{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,11]],"date-time":"2025-11-11T14:03:02Z","timestamp":1762869782359,"version":"build-2065373602"},"reference-count":47,"publisher":"Association for Computing Machinery (ACM)","issue":"1","funder":[{"name":"European Union\u2019s Horizon Europe research and innovation programme","award":["101139892"],"award-info":[{"award-number":["101139892"]}]},{"name":"MICIU\/AEI","award":["PLEC2023-010240,"],"award-info":[{"award-number":["PLEC2023-010240,"]}]},{"name":"Ministerio para la Transformaci\u00f3n Digital y de la Funci\u00f3n P\u00fablica","award":["C005\/24-ED CV1"],"award-info":[{"award-number":["C005\/24-ED CV1"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Des. Autom. Electron. Syst."],"published-print":{"date-parts":[[2026,1,31]]},"abstract":"<jats:p>\n                    The provision of increasingly advanced autonomous software functionalities builds on cutting-edge autonomous driving frameworks to enable modular interactions among multiple software components. This approach helps to support functional cause-effect chains from multiple sensors to actuators. The complexity of the (software) component interactions makes it more difficult to ascertain the correctness of the timing behavior of the system. This is so because traditional timing-related metrics like worst-case execution and worst-case response time do not capture the inter-dependency in cause-effect chains between the input sampling time and the time at which computation based on those inputs is performed. Complementary timing-related metrics, such as maximum reaction time and maximum data age have been considered to capture timing requirements, typically with an end-to-end scope, in cause-effect chains. These metrics have been formalized and demonstrated in ROS2-based automotive and autonomous driving setups\u00a0[\n                    <jats:xref ref-type=\"bibr\">44<\/jats:xref>\n                    ,\n                    <jats:xref ref-type=\"bibr\">46<\/jats:xref>\n                    ]. However, the formalization of those metrics, which is necessary for deriving analytical lower and upper bounds and monitoring them at run-time, largely depends on the execution model and semantics offered by the run-time. Any concrete application of those metrics need to be tailored and adapted to the system at hand.\n                  <\/jats:p>\n                  <jats:p>\n                    Apollo auto is a popular, industrial-quality, open-source autonomous driving framework that is seeing increasing adoption both for industrial and academic projects. Apollo builds on\n                    <jats:monospace>CyberRT<\/jats:monospace>\n                    , an ad-hoc run-time that is similar in mechanism and intent to ROS2 but differentiates from it with respect to execution model and supported semantics. In contrast to ROS2,\n                    <jats:monospace>CyberRT<\/jats:monospace>\n                    is highly specialized to support the Apollo AD framework, is neither extensively documented or thoroughly analysed in the literature, especially in relation to execution model and instantiation of timing-related metrics.\n                  <\/jats:p>\n                  <jats:p>\n                    In this work, for the first time, we provide an insightful analysis and discussion on\n                    <jats:monospace>CyberRT<\/jats:monospace>\n                    execution model and semantics, starting from its raw and non-extensively documented codebase. Based on the identified semantics, we elaborate a formalization of timing-related metrics on\n                    <jats:monospace>CyberRT<\/jats:monospace>\n                    , across different granularity scopes, namely\n                    <jats:italic toggle=\"yes\">end-to-end<\/jats:italic>\n                    and\n                    <jats:italic toggle=\"yes\">node<\/jats:italic>\n                    levels. In particular, we develop on the importance of\n                    <jats:italic toggle=\"yes\">node-level<\/jats:italic>\n                    timing properties to intercept any latent timing misbehavior before it is too late, and it severely impacts end-to-end execution.\n                  <\/jats:p>\n                  <jats:p>\n                    We provide a concrete mapping of a comprehensive set of timing-related metrics to the\n                    <jats:monospace>CyberRT<\/jats:monospace>\n                    execution model, both at end-to-end and node level, and develop a monitoring library that allows to intercept them on the specific software stack. We exploit the proposed library on a set of Apollo autonomous driving scenarios to demonstrate its effectiveness in monitoring the considered timing metrics and to promptly intercept a subtle timing misbehavior beyond end-to-end execution scope in a representative autonomous driving stack.\n                  <\/jats:p>","DOI":"10.1145\/3768344","type":"journal-article","created":{"date-parts":[[2025,9,30]],"date-time":"2025-09-30T11:22:31Z","timestamp":1759231351000},"page":"1-37","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Supporting Timing-related Metrics for Autonomous Driving Frameworks in CyberRT"],"prefix":"10.1145","volume":"31","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5372-6724","authenticated-orcid":false,"given":"Miguel","family":"Alcon","sequence":"first","affiliation":[{"name":"High-Performance Embedded Systems Laboratory, Barcelona Supercomputing Center","place":["Barcelona, Spain"]},{"name":"Computer Architecture, Universitat Politecnica de Catalunya","place":["Barcelona, Spain"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1886-2931","authenticated-orcid":false,"given":"Enrico","family":"Mezzetti","sequence":"additional","affiliation":[{"name":"High-Performance Embedded Systems Laboratory, Barcelona Supercomputing Center,","place":["Barcelona, Spain"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7951-4028","authenticated-orcid":false,"given":"Jaume","family":"Abella","sequence":"additional","affiliation":[{"name":"High-Performance Embedded Systems Laboratory, Barcelona Supercomputing Center","place":["Barcelona, Spain"]}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3344-376X","authenticated-orcid":false,"given":"Francisco J.","family":"Cazorla","sequence":"additional","affiliation":[{"name":"High-Performance Embedded Systems Laboratory, Barcelona Supercomputing Center","place":["Barcelona, Spain"]}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2025,11,11]]},"reference":[{"unstructured":"2024. 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